Merge branch 'master' of github.com:jinghaomiao/apollo into apollo_1.5

apollo.sh

@@ -209,7 +209,7 @@ function release() {
     cp bazel-bin/modules/monitor/hwmonitor/hw/tools/esdcan_test_app $MODULES_DIR/monitor/hwmonitor/hw/tools/
   fi
   cp -r bazel-genfiles/* $LIB_DIR
-  
+
   # doc
   cp -r docs $ROOT_DIR
   cp LICENSE $ROOT_DIR
@@ -272,7 +272,7 @@ function run_cpp_lint() {
 }
 
 function run_bash_lint() {
-  FILES=$(find "${DIR}" -type f -name "*.sh" | grep -v ros | grep -v kernel)
+  FILES=$(find "${APOLLO_ROOT_DIR}" -type f -name "*.sh" | grep -v ros | grep -v kernel)
   echo "${FILES}" | xargs shellcheck
 }
 
@@ -313,6 +313,7 @@ function print_usage() {
   buildify: fix style of BUILD files
   check: run build/lint/test, please make sure it passes before checking in new code
   clean: runs Bazel clean
+  config: run configurator tool
   coverage: generate test coverage report
   doc: generate doxygen document
   lint: run code style check
@@ -376,6 +377,10 @@ function build_gnss() {
     rm -rf modules/devel_isolated/
 }
 
+function config() {
+    ${APOLLO_ROOT_DIR}/scripts/configurator.sh
+}
+
 function main() {
   source_apollo_base
   apollo_check_system_config
@@ -395,6 +400,9 @@ function main() {
     buildgnss)
       build_gnss
       ;;
+    config)
+      config
+      ;;
     doc)
       gen_doc
       ;;

modules/canbus/tools/teleop.cc

@@ -14,10 +14,10 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include <stdio.h>
-#include <termios.h>
 #include <iostream>
 #include <memory>
+#include <stdio.h>
+#include <termios.h>
 #include <thread>
 
 #include "ros/include/ros/ros.h"
@@ -381,7 +381,7 @@ void signal_handler(int32_t signal_num) {
   ros::shutdown();
 }
 
-}  // end of namespace;
+}  // namespace
 
 int main(int32_t argc, char** argv) {
   google::InitGoogleLogging(argv[0]);

modules/common/proto/geometry.proto

@@ -14,7 +14,8 @@ package apollo.common;
 message PointENU {
   optional double x = 1 [default = nan];  // East from the origin, in meters.
   optional double y = 2 [default = nan];  // North from the origin, in meters.
-  optional double z = 3 [default = 0.0];  // Up from the WGS-84 ellipsoid, in meters.
+  optional double z = 3 [default = 0.0];  // Up from the WGS-84 ellipsoid, in
+                                          // meters.
 }
 
 // A point in the global reference frame. Similar to PointENU, PointLLH allows

modules/common/proto/gnss_status.proto

@@ -11,9 +11,9 @@ message StreamStatus {
     CONNECTED = 1;
   }
 
-  optional Type ins_stream_type = 2 [default=DISCONNECTED];
-  optional Type rtk_stream_in_type = 3 [default=DISCONNECTED];
-  optional Type rtk_stream_out_type = 4 [default=DISCONNECTED];
+  optional Type ins_stream_type = 2 [default = DISCONNECTED];
+  optional Type rtk_stream_in_type = 3 [default = DISCONNECTED];
+  optional Type rtk_stream_out_type = 4 [default = DISCONNECTED];
 }
 
 message InsStatus {
@@ -30,14 +30,14 @@ message InsStatus {
     // Safe to use. The INS has fully converged.
     GOOD = 2;
   }
-  optional Type type = 2 [default=INVALID];
+  optional Type type = 2 [default = INVALID];
 }
 
 message GnssStatus {
   optional apollo.common.Header header = 1;
-  optional bool solution_completed = 2 [default=false];
-  optional uint32 solution_status = 3 [default=0];
-  optional uint32 position_type = 4 [default=0];
+  optional bool solution_completed = 2 [default = false];
+  optional uint32 solution_status = 3 [default = 0];
+  optional uint32 position_type = 4 [default = 0];
   // Number of satellites in position solution.
-  optional int32 num_sats = 5 [default=0];
+  optional int32 num_sats = 5 [default = 0];
 }

modules/common/status/status.h

@@ -88,8 +88,7 @@ class Status {
   bool operator!=(const Status& rh) const { return !(*this == rh); }
 
   /**
-   * @brief returns the error message of the status, empty if the status is
-   * OK.
+   * @brief returns the error message of the status, empty if the status is OK.
    * @returns the error message
    */
   const std::string& error_message() const { return msg_; }

modules/common/time/time.h

@@ -41,8 +41,7 @@ namespace time {
 
 /**
  * @class Duration
- * @brief the default Duration is of precision nanoseconds (1e-9
- * seconds).
+ * @brief the default Duration is of precision nanoseconds (1e-9 seconds).
  */
 using Duration = std::chrono::nanoseconds;
 
@@ -66,8 +65,7 @@ using hours = std::chrono::hours;
 /**
  * @brief converts the input duration (nanos) to a 64 bit integer, with
  * the unit specified by PrecisionDuration.
- * @param duration the input duration that needs to be converted to
- * integer.
+ * @param duration the input duration that needs to be converted to integer.
  * @return an integer representing the duration in the specified unit.
  */
 template <typename PrecisionDuration>
@@ -78,8 +76,7 @@ int64_t AsInt64(const Duration &duration) {
 /**
  * @brief converts the input timestamp (nanos) to a 64 bit integer, with
  * the unit specified by PrecisionDuration.
- * @param timestamp the input timestamp that needs to be converted to
- * integer.
+ * @param timestamp the input timestamp that needs to be converted to integer.
  * @return an integer representing the timestamp in the specified unit.
  */
 template <typename PrecisionDuration>
@@ -109,8 +106,7 @@ inline double ToSecond(const Timestamp &timestamp) {
 }
 
 /**
- * @brief converts the integer-represented timestamp to \class
- * Timestamp.
+ * @brief converts the integer-represented timestamp to \class Timestamp.
  * @return a Timestamp object.
  */
 template <typename PrecisionDuration>

modules/drivers/gnss/proto/gnss_status.proto

@@ -11,9 +11,9 @@ message StreamStatus {
     CONNECTED = 1;
   }
 
-  optional Type ins_stream_type = 2 [default=DISCONNECTED];
-  optional Type rtk_stream_in_type = 3 [default=DISCONNECTED];
-  optional Type rtk_stream_out_type = 4 [default=DISCONNECTED];
+  optional Type ins_stream_type = 2 [default = DISCONNECTED];
+  optional Type rtk_stream_in_type = 3 [default = DISCONNECTED];
+  optional Type rtk_stream_out_type = 4 [default = DISCONNECTED];
 }
 
 message InsStatus {
@@ -30,14 +30,14 @@ message InsStatus {
     // Safe to use. The INS has fully converged.
     GOOD = 2;
   }
-  optional Type type = 2 [default=INVALID];
+  optional Type type = 2 [default = INVALID];
 }
 
 message GnssStatus {
   optional apollo.common.Header header = 1;
-  optional bool solution_completed = 2 [default=false];
-  optional uint32 solution_status = 3 [default=0];
-  optional uint32 position_type = 4 [default=0];
+  optional bool solution_completed = 2 [default = false];
+  optional uint32 solution_status = 3 [default = 0];
+  optional uint32 position_type = 4 [default = 0];
   // Number of satellites in position solution.
-  optional int32 num_sats = 5 [default=0];
+  optional int32 num_sats = 5 [default = 0];
 }

modules/hmi/web/config.py

@@ -75,8 +75,8 @@ class Config(object):
         """
         Get realpath from a path string in config.
 
-        Starting with '/' indicates an absolute path, otherwise it will be taken as a relative path
-        of the Apollo root.
+        Starting with '/' indicates an absolute path, otherwise it will be taken
+        as a relative path of the Apollo root.
         """
         if path_str.startswith('/'):
             return path_str

modules/hmi/web/ros_service_api.py

@@ -42,6 +42,7 @@ class RosServiceApi(flask_restful.Resource):
     @staticmethod
     def execute_cmd(cmd_name):
         """Run ros command by sending GRPC requests and return HTTP response."""
+        ToolStatus = runtime_status_pb2.ToolStatus
         channel = grpc.insecure_channel(gflags.FLAGS.hmi_ros_node_service)
         stub = ros_node_pb2.HMIRosNodeStub(channel)
 
@@ -54,8 +55,8 @@ class RosServiceApi(flask_restful.Resource):
 
             # Update runtime status.
             tool_status = status.get_tools()
-            if tool_status.playing_status != runtime_status_pb2.ToolStatus.PLAYING_NOT_READY:
-                tool_status.playing_status = runtime_status_pb2.ToolStatus.PLAYING_READY_TO_CHECK
+            if tool_status.playing_status != ToolStatus.PLAYING_NOT_READY:
+                tool_status.playing_status = ToolStatus.PLAYING_READY_TO_CHECK
 
         elif cmd_name == 'start_auto_driving':
             request = ros_node_pb2.ChangeDrivingModeRequest(
@@ -63,8 +64,7 @@ class RosServiceApi(flask_restful.Resource):
             response = stub.ChangeDrivingMode(request)
 
             # Update runtime status.
-            status.get_tools(
-            ).playing_status = runtime_status_pb2.ToolStatus.PLAYING
+            status.get_tools().playing_status = ToolStatus.PLAYING
         else:
             error_msg = 'RosServiceApi: Unknown command "{}"'.format(cmd_name)
             glog.error(error_msg)

modules/hmi/web/runtime_status.py

@@ -45,6 +45,7 @@ class RuntimeStatus(object):
     @classmethod
     def reset(cls, check_playable_file=False):
         """Reset runtime status to start."""
+        ToolStatus = runtime_status_pb2.ToolStatus
         cls.pb_singleton.Clear()
         cls.pb_fingerprint = 0
         cls.module_dict.clear()
@@ -52,11 +53,11 @@ class RuntimeStatus(object):
 
         tool_status = cls.get_tools()
         if check_playable_file and cls.stat_playable_duration() > 0:
-            tool_status.recording_status = runtime_status_pb2.ToolStatus.RECORDING_FINISHED
-            tool_status.playing_status = runtime_status_pb2.ToolStatus.PLAYING_READY_TO_CHECK
+            tool_status.recording_status = ToolStatus.RECORDING_FINISHED
+            tool_status.playing_status = ToolStatus.PLAYING_READY_TO_CHECK
         else:
-            tool_status.recording_status = runtime_status_pb2.ToolStatus.RECORDING_READY_TO_CHECK
-            tool_status.playing_status = runtime_status_pb2.ToolStatus.PLAYING_NOT_READY
+            tool_status.recording_status = ToolStatus.RECORDING_READY_TO_CHECK
+            tool_status.playing_status = ToolStatus.PLAYING_NOT_READY
         cls._calculate()
 
     @classmethod
@@ -110,18 +111,15 @@ class RuntimeStatus(object):
         cls._calculate()
         new_fingerprint = hash(str(cls.pb_singleton))
         if cls.pb_fingerprint != new_fingerprint:
-            flask_socketio.emit(
-                'new_status',
-                cls.status_json(),
-                broadcast=True,
-                namespace='/runtime_status')
+            flask_socketio.emit('new_status',
+                                cls.status_json(),
+                                broadcast=True,
+                                namespace='/runtime_status')
             cls.pb_fingerprint = new_fingerprint
 
     @classmethod
     def _calculate(cls):
         """Update runtime status fields which need to be calculated."""
-        conf_pb = config.Config.get_pb()
-
         modules_and_hardware_ready = cls.are_all_modules_ready(
         ) and cls.are_all_hardware_ready()
         cls._calculate_recording_status(modules_and_hardware_ready)
@@ -153,7 +151,7 @@ class RuntimeStatus(object):
         if os.path.exists(file_to_play):
             with open(file_to_play, 'r') as f:
                 kFreq = 100
-                cls.playable_duration = sum([1 for line in f]) / kFreq
+                cls.playable_duration = sum([1 for _ in f]) / kFreq
         else:
             cls.playable_duration = 0
         return cls.playable_duration
@@ -168,7 +166,8 @@ class RuntimeStatus(object):
         recording_status = tool_status.recording_status
         if recording_status == CHECKING and modules_and_hardware_ready:
             tool_status.recording_status = READY_TO_START
-        elif recording_status == READY_TO_START and not modules_and_hardware_ready:
+        elif recording_status == READY_TO_START and \
+             not modules_and_hardware_ready:
             tool_status.recording_status = CHECKING
 
     @classmethod
@@ -181,17 +180,17 @@ class RuntimeStatus(object):
         if tool_status.playing_status == ToolStatus.PLAYING_NOT_READY:
             if tool_status.recording_status == ToolStatus.RECORDING_FINISHED:
                 if cls.playable_duration > 0:
-                    tool_status.playing_status = ToolStatus.PLAYING_READY_TO_CHECK
+                    tool_status.playing_status = \
+                    ToolStatus.PLAYING_READY_TO_CHECK
                 else:
-                    glog.info(
-                        'RuntimeStatus::_calculate_playing_status: No file to play'
-                    )
+                    glog.info('RuntimeStatus::_calculate_playing_status: ' \
+                              'No file to play')
         elif (playing_status == ToolStatus.PLAYING_CHECKING and
               modules_and_hardware_ready and tool_status.planning_ready):
             tool_status.playing_status = ToolStatus.PLAYING_READY_TO_START
             glog.info(
-                'RuntimeStatus::_calculate_playing_status: All modules/hardware are ready'
-            )
+                'RuntimeStatus::_calculate_playing_status: ' \
+                'All modules/hardware are ready')
         elif playing_status == ToolStatus.PLAYING_READY_TO_START and not (
                 modules_and_hardware_ready and tool_status.planning_ready):
             tool_status.playing_status = ToolStatus.PLAYING_CHECKING
@@ -205,10 +204,12 @@ class RuntimeStatus(object):
         tool_status = cls.get_tools()
 
         if tool_status.recording_status == ToolStatus.RECORDING_READY_TO_CHECK:
-            tool_status.message = 'Before recording, you need to setup the system.'
+            tool_status.message = 'Before recording, you need to setup the ' \
+                                  'system.'
         elif tool_status.recording_status == ToolStatus.RECORDING_CHECKING:
             tool_status.message = 'Waiting for modules and hardware.'
-        elif tool_status.recording_status == ToolStatus.RECORDING_READY_TO_START:
+        elif tool_status.recording_status == \
+             ToolStatus.RECORDING_READY_TO_START:
             tool_status.message = 'Now you are ready to record.'
         elif (tool_status.recording_status == ToolStatus.RECORDING or
               tool_status.playing_status == ToolStatus.PLAYING):
@@ -217,8 +218,9 @@ class RuntimeStatus(object):
                 tool_status.message = str(cls._current_timestamp())
         elif (tool_status.recording_status == ToolStatus.RECORDING_FINISHED and
               tool_status.playing_status == ToolStatus.PLAYING_NOT_READY):
-            tool_status.message = 'The recorded data/log/garage.csv is invalid.<br/>' \
-                                  'Please fix, or simply try recording again by clicking "New".'
+            tool_status.message = 'The recorded data/log/garage.csv is ' \
+                                  'invalid.<br/>Please fix, or simply try ' \
+                                  'recording again by clicking "New".'
         elif tool_status.playing_status == ToolStatus.PLAYING_CHECKING:
             if tool_status.planning_ready:
                 tool_status.message = 'Waiting for modules and hardware.'
@@ -229,9 +231,11 @@ class RuntimeStatus(object):
                                   'Before playing, please setup the system.' \
                                   .format(cls.playable_duration)
         elif tool_status.playing_status == ToolStatus.PLAYING_READY_TO_START:
-            tool_status.message = 'Make sure the OPERATOR is ready! Now you are good to go.'
+            tool_status.message = 'Make sure the OPERATOR is ready! ' \
+                                  'Now you are good to go.'
         else:
-            tool_status.message = 'Something goes wrong.<br/>Please record again or RESET ALL.'
+            tool_status.message = 'Something goes wrong.<br/>' \
+                                  'Please record again or RESET ALL.'
 
     @classmethod
     def _current_timestamp(cls):